Title: Modelling and dynamic analysing of rectilinear mode of crawling locomotion

Authors: S.M.R.S. Noorani, Ahmad Ghanbari

Addresses: Center of Excellence for Mechatronics, Department of Mechanical Engineering, University of Tabriz, P.O. Box 5166616471, Tabriz, Iran. ' Center of Excellence for Mechatronics, Department of Mechanical Engineering, University of Tabriz, P.O. Box 5166616471, Tabriz, Iran

Abstract: In this paper, the main attention is development of dynamical model for a new locomotion pattern, which is inspired by worms and snakes. This mode of advancement, called rectilinear locomotion gait, has some good functions to be performed for a crawling mobile robot, and the most important of them are independence from directional friction and cross-over gaps, which may be in the search route. In this work, first, a simple model of rectilinear locomotion gait is introduced. Then, derivation of motion equation is done, and torques necessary for realising crawling mechanism will be calculated. Also, to confirm that it would achieve a forward motion in practical situation, the robot mechanism is simulated by engineering simulator software.

Keywords: snake robots; crawling gait; manipulator dynamics; trajectory planning; robot dynamics; rectilinear locomotion gait; dynamic modelling; mobile robots; robot motion; simulation.

DOI: 10.1504/IJVAS.2011.041383

International Journal of Vehicle Autonomous Systems, 2011 Vol.9 No.3/4, pp.180 - 188

Available online: 21 Jul 2011 *

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